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<div class="title">Contributing to PCL </div>  </div>
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<div class="contents">
<div class="textblock"><p>Please take a moment to review this document in order to make the contribution process easy and effective for everyone involved.</p>
<p>Following these guidelines helps to communicate that you respect the time of the developers managing and developing this open source project. In return, they should reciprocate that respect in addressing your issue or assessing patches and features.</p>
<h1><a class="anchor" id="autotoc_md177"></a>
Using the issue tracker</h1>
<p>The <a href="https://github.com/PointCloudLibrary/pcl/issues">issue tracker</a> is the preferred channel for submitting <a href="#pull-requests">pull requests</a> and <a href="#bugs">bug reports</a>, but please respect the following restrictions:</p>
<ul>
<li>Please <b>do not</b> use the issue tracker for personal support requests (use <a href="http://www.pcl-users.org/">mailing list</a>).</li>
<li>Please <b>do not</b> derail or troll issues. Keep the discussion on topic and respect the opinions of others.</li>
</ul>
<p><a class="anchor" id="pull-requests"></a> </p>
<h1><a class="anchor" id="autotoc_md178"></a>
Pull requests</h1>
<p>Good pull requests - patches, improvements, new features - are a fantastic help. They should remain focused in scope and avoid containing unrelated commits.</p>
<p><b>Please ask first</b> before embarking on any significant pull request (e.g. implementing features, refactoring code), otherwise you risk spending a lot of time working on something that the project's developers might not want to merge into the project. Please read the <a href="http://pointclouds.org/documentation/tutorials/writing_new_classes.php#writing-new-classes">tutorial on writing a new PCL class</a> if you want to contribute a brand new feature.</p>
<p>If you are new to Git, GitHub, or contributing to an open-source project, you may want to consult the <a href="https://github.com/PointCloudLibrary/pcl/wiki/A-step-by-step-guide-on-preparing-and-submitting-a-pull-request">step-by-step guide on preparing and submitting a pull request</a>.</p>
<p><a class="anchor" id="checklist"></a> </p>
<h2><a class="anchor" id="autotoc_md179"></a>
Checklist</h2>
<p>Please use the following checklist to make sure that your contribution is well prepared for merging into PCL:</p>
<ol type="1">
<li>Source code adheres to the coding conventions described in <a href="http://pointclouds.org/documentation/advanced/pcl_style_guide.php">PCL Style Guide</a>. But if you modify existing code, do not change/fix style in the lines that are not related to your contribution.</li>
<li>Commit history is tidy (no merge commits, commits are <a href="http://davidwalsh.name/squash-commits-git">squashed</a> into logical units).</li>
<li>Each contributed file has a <a href="#license">license</a> text on top.</li>
</ol>
<p><a class="anchor" id="bugs"></a> </p>
<h1><a class="anchor" id="autotoc_md180"></a>
Bug reports</h1>
<p>A bug is a <em>demonstrable problem</em> that is caused by the code in the repository. Good bug reports are extremely helpful - thank you!</p>
<p>Guidelines for bug reports:</p>
<ol type="1">
<li><b>Check if the issue has been reported</b> &mdash; use GitHub issue search and mailing list archive search.</li>
<li><b>Check if the issue has been fixed</b> &mdash; try to reproduce it using the latest <code>master</code> branch in the repository.</li>
<li><b>Isolate the problem</b> &mdash; ideally create a reduced test case.</li>
</ol>
<p>A good bug report shouldn't leave others needing to chase you up for more information. Please try to be as detailed as possible in your report. What is your environment? What steps will reproduce the issue? What would you expect to be the outcome? All these details will help people to fix any potential bugs.</p>
<p>Example:</p>
<blockquote class="doxtable">
<p>Short and descriptive example bug report title</p>
<p>A summary of the issue and the OS environment in which it occurs. If suitable, include the steps required to reproduce the bug.</p>
<ol type="1">
<li>This is the first step</li>
<li>This is the second step</li>
<li>Further steps, etc.</li>
</ol>
<p>Any other information you want to share that is relevant to the issue being reported. This might include the lines of code that you have identified as causing the bug, and potential solutions (and your opinions on their merits). </p>
</blockquote>
<p><a class="anchor" id="license"></a> </p>
<h1><a class="anchor" id="autotoc_md181"></a>
License</h1>
<p>PCL is 100% <a href="LICENSE.txt">BSD licensed</a>, and by submitting a patch, you agree to allow Open Perception, Inc. to license your work under the terms of the BSD License. The corpus of the license should be inserted as a C++ comment on top of each <code>.h</code> and <code>.cpp</code> file:</p>
<div class="fragment"><div class="line"><span class="comment">/*</span></div>
<div class="line"><span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><span class="comment"> *</span></div>
<div class="line"><span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><span class="comment"> *  Copyright (c) 2014-, Open Perception, Inc.</span></div>
<div class="line"><span class="comment"> *</span></div>
<div class="line"><span class="comment"> *  All rights reserved.</span></div>
<div class="line"><span class="comment"> *</span></div>
<div class="line"><span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><span class="comment"> *  are met:</span></div>
<div class="line"><span class="comment"> *</span></div>
<div class="line"><span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><span class="comment"> *     with the distribution.</span></div>
<div class="line"><span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><span class="comment"> *</span></div>
<div class="line"><span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><span class="comment"> *</span></div>
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